24017e960c
* add molmoact2 policy * add apache headers to molmoact2 files * simplify molmoact2 package imports * align molmoact2 feature validation with eo pattern * remove molmoact2 processor override from factory * guard molmoact2 transformers imports * guard molmoact2 processor transformers import * add scipy dependency to molmoact2 extra * use a single molmoact2 action queue * move molmoact2 config logic into config * fix molmoact2 hf image key resolution * load molmoact2 without remote code * lazy import molmoact2 scipy * format molmoact2 files * skip molmoact2 tests without optional deps * fix molmoact2 pre-commit checks * validate molmoact2 gripper range
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MolmoAct2
This repository contains the LeRobot policy implementation of MolmoAct2, ported into LeRobot for training, evaluation, checkpointing, and dataset compatibility.
This implementation currently supports training and evaluation for the regular MolmoAct2 model. MolmoAct2-Think, which supports adaptive depth reasoning, is not included in this LeRobot policy yet and is coming soon.
For the original MolmoAct2 training code used for the experiments reported in the paper, see allenai/molmoact2.
LIBERO Evaluation
Important: we found that num_steps_wait=10 does not reliably let the LIBERO
scene stabilize and can degrade measured success. All LIBERO evaluation results
reported for this LeRobot implementation use num_steps_wait=50.
Citation
@misc{fang2026molmoact2actionreasoningmodels,
title={MolmoAct2: Action Reasoning Models for Real-world Deployment},
author={Haoquan Fang and Jiafei Duan and Donovan Clay and Sam Wang and Shuo Liu and Weikai Huang and Xiang Fan and Wei-Chuan Tsai and Shirui Chen and Yi Ru Wang and Shanli Xing and Jaemin Cho and Jae Sung Park and Ainaz Eftekhar and Peter Sushko and Karen Farley and Angad Wadhwa and Cole Harrison and Winson Han and Ying-Chun Lee and Eli VanderBilt and Rose Hendrix and Suveen Ellawela and Lucas Ngoo and Joyce Chai and Zhongzheng Ren and Ali Farhadi and Dieter Fox and Ranjay Krishna},
year={2026},
eprint={2605.02881},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2605.02881},
}
License
This model is licensed under Apache 2.0. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines, consistent with allenai/molmoact2.